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Control Module

In order to ensure the completion of the project within the allotted time, certain control modules will be implemented separately, off the PC-104 board. This will speed up development by easier code writing and testing. This also means more CPU power for the AI architecture. The PWM module to control the motors is the first such module that will be designed. The following tasks need to be completed:


Comm Parameters
Parameter Value
Protocol RS-232 (maybe 422/485)
Speed 57600 bps
Data bits 8
Parity bit None
Stop bit 1



Packet Format:
0x10 0x01 Rx ADDR Tx ADDR CHK CMD Size Data 0x10 0x04


Device List
Address Device
0x20 PWM Controller
0x30 Sonar Sensors
Device: 0x20 - PWM Controller
Command Description Data
0x00 Disable none
0x01 Enable none
0x02 Set On Time 2 bytes : time in us
0x03 Set Off Time 2 bytes : time in us
0x04 Read Status Flags none
0x05 Dynamic Brake On none
0x06 Dynamic Brake Off none
0x07 Dynamic Brake Pulse 1 byte : on-time in ms

next up previous contents
Next: Power Amplifier Up: Motor Controller Previous: Motor Controller   Contents
Jordan Reynolds 2003-05-29